ChK/appRobotDriver
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Fileservice

Browse Source
This commit is contained in:
chk
2026-06-14 11:18:46 +02:00
parent 319fae944a
commit a807732b58
16 changed files with 822 additions and 678 deletions
Download Patch File Download Diff File Expand all files Collapse all files

94
robot/GCode.js
View File

@@ -1,14 +1,11 @@
/***
* Receives GCode, processes it and moves the Data to the Roboter-Class
*/
const fs = require('fs');
const RobotController = require('./RobotController');
class GCode{
static fileName = "GCodeFiles/log.gcode";
static containsMCode(s){
return s === 'M1' || s.startsWith('M1 ');
}
@@ -55,7 +52,7 @@ class GCode{
', "a":'+ robot.a +
', "b":'+ robot.b +
', "c":'+ robot.c +
', "e":'+ 0.0 +
', "e":'+ (robot.e ?? 0) +
'}}';
return text;
}
@@ -94,95 +91,6 @@ class GCode{
return RobotController.receive(robot, g);
}
//////////////////////////////////////////////////////////////////////////////////////////////////////////////77
// Commands for Files
static removeStringFromFile(fileName, stringToRemove) {
try {
const data = fs.readFileSync(fileName, 'utf8');
const modifiedData = data.replace(new RegExp(stringToRemove, 'g'), '');
fs.writeFileSync(fileName, modifiedData, 'utf8');
} catch (err) {
console.error('Error:', err);
}
}
static ContainsFilesCommand(message){
if(message.indexOf('FPoint') !== -1){return true;} // Writes new Point (at end of file)
if(message.indexOf('FPlus') !== -1){return true;} // go to Next Position in Log File
if(message.indexOf('FMinus') !== -1){return true;} // go to Previous Position
if(message.indexOf('FFirst') !== -1){return true;} // set Cursour to First Position of Log File
if(message.indexOf('FLast') !== -1){return true;} // set Cursour to Last Position of Log File
if(message.indexOf('FShow') !== -1){return true;} // Shows/Sends GCode-File
if(message.indexOf('FList') !== -1){return true;} // Lists GCode-Files
if(message.indexOf('FLoad ') !== -1){return true;} // Loads File into Log
if(message.indexOf('FSave ') !== -1){return true;} // Saves Log to GCode-File
if(message.indexOf('FClear') !== -1){return true;} // Clears default Log File
if(message.indexOf('M20') !== -1){return true;} // M20 - List SD Card-Contents // https://marlinfw.org/docs/gcode/M020.html
if(message.indexOf('M23') !== -1){return true;} // M23 - Select SD file
if(message.indexOf('M28') !== -1){return true;} // M28 - Start SD write // M28 [B1] filename
if(message.indexOf('M29') !== -1){return true;} // M29 - Stop SD write
return false;
}
static receiveFC(robot, message){
if(message.indexOf('FShow') !== -1){
try {
const data = fs.readFileSync(this.fileName, 'utf8');
const reply = "XYZ__FShow__XYZ" + data; // prepend header
return reply.replaceAll("G91 ","").replaceAll("G90 ","").replace(/\s?\bt\d+\b\s?/g, '').trim();
} catch (err) {
console.error('Error:', err);
}
}
if(message.indexOf('FPoint') !== -1){
const secondsSinceEpoch = 10*Math.floor(Date.now() / 100);
var strGCode = String(`G90 G1 x${robot.x} y${robot.y} z${robot.z} a${(robot.phi*180/Math.PI).toFixed(2)} b${(robot.theta*180/Math.PI).toFixed(2)} c${(robot.psi*180/Math.PI).toFixed(2)} e${(robot.e*180/Math.PI).toFixed(2)} t${secondsSinceEpoch} f1000` )
this.removeStringFromFile(this.fileName, ';!')
fs.appendFileSync(this.fileName, strGCode+ ';!'+ '\r\n', 'utf8');
}
if(message.indexOf('FMinus') !== -1 || message.indexOf('FPlus') !== -1){
let lines = fs.readFileSync(this.fileName, 'utf8').split('\r\n');
let lineChange = -1;
// Process lines
for (let i = 0; i < lines.length; i++) {
if (lines[i].indexOf(';!') !== -1) {
if(message.indexOf('FMinus') !== -1 && i > 0){
lines[i - 1] += ';!';
lines[i] = lines[i].split(';!')[0];
var gCodePi = this.toPiMultiple(lines[i-1]);
this.receiveGCode(robot, gCodePi);
}
if(message.indexOf('FPlus') !== -1 && i < (lines.length-2) && lineChange == -1){
lines[i + 1] += ';!';
lines[i] = lines[i].split(';!')[0];
lineChange = i+1;
var gCodePi = this.toPiMultiple(lines[i+1]);
this.receiveGCode(robot, gCodePi);
}
}
}
// Write the updated content back
fs.writeFileSync(this.fileName, lines.join('\r\n'), 'utf8');
}
return GCode.getM114(robot);
}
}
module.exports = GCode